IAI America ERC3 - Manual (Page 263)

Chapter 4 Operation
4.3
Operation in Pulse
Train Control Mode (How to Operate
Pulse
Train Control
Type)
253
(3) Torque Limit Select (TL, TLR)
Input Output
PIO signal
TL INPĺTLR
(Note ) TLR is the function available only in Pattern 1.
The torque limit signal TL is a signal that limits the torque for the motor. While this signal is
ON, the actuator thrust can (motor torque) can be limited at the torque that was set in
Parameter No.57 “Torque limit”.
While TL Signal is ON, the positioning complete signal INP becomes the torque limiting signal
TLR and turns ON when the motor torque gets to the torque limit value set in Parameter
No.57.
The TL signal is disabled during home return or forced stop.
Caution:
• Do not turn the TL signal OFF while the TLR signal is ON.
Large deviation (servo lag pulses) may be created while in torque limit (TL Signal is
ON). (For example, the actuator may receive a load just like it receive a pressing force
in pressing operation and therefore become no longer operable). If TL Signal is turned
OFF under this condition, the operation may be started with the maximum torque at
the same time, and make a sudden move. After turning TLR signal ON, perform an
operation in the reversed way to confirm TLR signal turns OFF. If the condition is
difficult for the reversed movement, turn the servo OFF or clear the deviation counter
(by turning DCLR ON).
(4) Deviation Counter Clear DCLR
Input
PIO signal
RESĺDCLR
It is a function that can be selected only in Pattern 1
This is the signal to clear the deviation counter that stores the specified pulse until its process
is completely finished (positioning is completed) once a command pulse is input.
While TL Signal is ON, the reset signal RES becomes the deviation counter clear signal
DCLR.
It is used when the deviation is desired to be cleared after the pressing by TL signal is
complete (TLR signal ON). Once the deviation is cleared, TLR signal turns OFF and the
condition can be made as it is positioned at the point where the pressing is complete.
Caution: DCLR signal is a signal that is processed at the startup (ON edge). Therefore,
input the pulse train while DCLR signal is on and the actuator will operate.
Turn this signal ON only when the deviation counter is to be cleared.